JP2000205821A - Instrument and method for three-dimensional shape measurement - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional shape measuring instrument which can efficiently improve the measurement precision of the three-dimensional shape of a body. SOLUTION: An image of the body to be measured is photographed by an image pickup device 2 and stereoscopic correspondence is found from the obtained image to measure the three-dimensional shape of the object body. The measured three-dimensional shape is displayed on a display device 5 to allow an operator to evaluate by comparing it with the object body. When it is judged that shape data need to be corrected, the position of an area is indicated on the object body by using a position indicating device 3. A 2nd three-dimensional coordinate calculating means 12 detects the position specified by the position indicating device 3 to calculate three-dimensional coordinates. The calculated shape data are displayed on the display device 5 to allow the operator to evaluate it again; when the operator judges that the shape data are correct, the shape data are corrected and the position indicating operation is finished. When it is judged that the data are not correct, the position indicating operation is repeated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a three-dimensional shape measuring apparatus and a three-dimensional shape measuring method, and more particularly to a three-dimensional shape measuring method for measuring a three-dimensional shape of an object.

[0002]

2. Description of the Related Art There are known three-dimensional shape measuring apparatuses using a range finder and those using image processing in a stereo system. In the measurement by the stereo method, there are methods such as monocular, binocular, and compound eye viewing of three or more eyes.

In the case of the monocular method, the relative position between the object to be measured and the camera is changed to observe characteristic points before and after the relative position change, and images from a plurality of directions (generally, two arbitrary images) are obtained. Perform stereo measurement using For example, a three-dimensional coordinate of a feature point is calculated by setting a measured object on a turntable, observing the measured object from multiple directions while rotating, and searching for a corresponding point of the feature point before and after rotation.

[0004] Another method of the above-mentioned stereo method is a method of actively creating feature points (stereo corresponding points) on the surface of an object to be measured. For example, feature points are generated on the object plane by laser light projection, slit light projection, pattern light projection, and the like, and triangulation is performed between the projection device and the observation device to calculate three-dimensional coordinates of the feature points.

[0005] The three-dimensional measurement by the stereo method is described in "Image Processing Handbook" (Morio Onoe, published by Shokodo, published on June 8, 1987, pp. 393-397,
ISBN4-7856-9024-0).

[0006]

In the conventional three-dimensional shape measuring apparatus described above, in the case of observing from a plurality of directions by changing the relative position between the object to be measured and the camera, the measurement can be performed with a simple system configuration. However, there is a problem that the search for the corresponding point may be erroneously performed and the three-dimensional coordinate calculation may fail.

Further, in the case of a method in which feature points are positively created on the surface of an object to be measured, since the number of feature points is small, there is an advantage that a corresponding point can be easily searched for in stereo measurement. However, since it is difficult to obtain a large number of corresponding points at the same time, there is a problem that it takes a long time to measure a wide range and it is not possible to acquire the texture of the object surface.

Further, depending on the shape of the object to be measured, it is sometimes desired to partially improve the measurement accuracy. This is because the more complicated the shape of the object plane, the more measurement points are required and the more difficult the measurement.

Furthermore, even for an object whose shape can be clearly understood by humans, satisfactory shape data may not be obtained. This is because shape data due to erroneous measurement cannot be easily corrected.

Accordingly, an object of the present invention is to provide a three-dimensional shape measuring apparatus and a three-dimensional shape measuring method capable of solving the above problems and efficiently improving the three-dimensional shape measurement accuracy of an object. It is in.

[0011]

A three-dimensional shape measuring apparatus according to the present invention comprises a three-dimensional shape calculating means for calculating a three-dimensional shape from a photographed image of an object to be measured, and the three-dimensional shape calculating means in response to an external instruction. Instructing means for instructing a measuring point to be measured on a measurement object, three-dimensional coordinate calculating means for calculating three-dimensional coordinates of the measuring point designated by the instructing means, the three-dimensional shape calculating means and the three-dimensional coordinate calculation Correction means for correcting the shape data of the object to be measured based on the calculation result of each means.

In the three-dimensional shape measuring method according to the present invention, a step of calculating a three-dimensional shape from a photographed image of an object to be measured and inputting a measurement point to be measured on the object in response to an external instruction. Calculating the three-dimensional coordinates of the measurement point when the measurement is performed; and correcting the shape data of the measured object based on the calculation results.

That is, the three-dimensional shape measuring method of the present invention is applied to a measuring method using image processing in a stereo system.
By adding a method of designating an arbitrary position on the surface of the measured object and calculating the coordinates of the designated point, the three-dimensional shape and texture of the object can be effectively created with a simple system configuration and good operability. It can be measured.

More specifically, the operator is required to set an area where measurement accuracy is predicted to be low, an area where the shape of the measurement object is special and the number of measurement points is intentionally increased, and an area where measurement is considered to be erroneous after measurement. Performs estimation and estimation by comparing with the measured object (actual object), inputs the result, performs a position indicating operation on the area with reduced accuracy, and recalculates the coordinates of the indicated point to improve the measurement accuracy. Have improved.

As the operation of indicating the position to be re-measured, there are a method in which the operator directly operates and a method in which the operator indirectly operates through a computer. In any case, the operator explicitly indicates the position. I do.

As described above, by adding the position indicating device for the operator to explicitly indicate the position to the image photographing device, the measurement accuracy of the three-dimensional shape of the object is improved, and the shape data can be efficiently obtained. Can be added and modified.

Further, when the operator performs an instruction operation at an arbitrary position of the object, it is possible to obtain satisfactory shape data by the operator, and a small error generated in the stereo measurement method by image processing. Can be reduced.

[0018]

Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a three-dimensional shape measuring apparatus according to an embodiment of the present invention. In the figure, a three-dimensional shape measuring apparatus according to an embodiment of the present invention includes a data processing device 1, an image photographing device 2, a position pointing device 3, a shape data storage device 4, and a display device 5.
The data processing apparatus 1 includes a first three-dimensional coordinate calculation unit 11 and a second three-dimensional coordinate calculation unit 12.
And a shape data correcting means 13.

The image capturing device 2 captures an image for performing triangulation by the stereo measurement method, and the position indicating device 3 indicates a specific position on the surface of the measured object (not shown). In the data processing device 1, a first three-dimensional coordinate calculation unit 11 calculates a three-dimensional position of a corresponding point from an image captured by the image capturing device 2 by searching for a corresponding point. The position designated by the position designating device 3 is detected, and the three-dimensional coordinates of the position are calculated. The shape data correcting means 13 calculates the three-dimensional coordinates by the first three-dimensional coordinate calculating means 11 and the second three-dimensional coordinate calculating means 12. Modify the coordinates with each other. The shape data storage device 4 stores the shape data, and the display device 5
Displays shape data.

The operation of each of the above means will be described in detail below. The image capturing device 2 captures an object to be measured from a plurality of directions. The first three-dimensional coordinate calculation means 11 of the data processing device 1 extracts a feature point from a captured image and searches for where the feature point appears in each image (search for a corresponding point). If the corresponding point is found, for example, the three-dimensional coordinates of the feature point are calculated by triangulation from any two images.

The position indicating device 3 is installed toward an arbitrary point on the surface of the object to be measured, and indicates a position to be measured. The second three-dimensional coordinate calculation means 12 of the data processing device 1 detects the position specified by the position pointing device 3 and calculates three-dimensional coordinates.

The shape data correcting means 13 corrects and adds to the shape data obtained by the first three-dimensional coordinate calculating means 11 using the shape data obtained by the second three-dimensional coordinate calculating means 12, The updated shape data is stored in the shape data storage device 4. The display device 5 displays the shape data, which is to be compared with the measured object (real object).

FIG. 2 is a flowchart showing the operation of the three-dimensional shape measuring apparatus according to the embodiment of the present invention. The operation of the three-dimensional shape measuring apparatus according to the embodiment of the present invention will be described with reference to FIGS.

The image photographing device 2 photographs images from a plurality of directions (step S1 in FIG. 2). The first three-dimensional coordinate calculation means 11 repeatedly searches for a corresponding point from the image obtained by the image capturing device 2 and measures the three-dimensional shape of the measured object (FIG. 2).
Step S2). The processing up to this point is a conventional method using a three-dimensional shape measurement method by image processing.

Next, the data processing device 1 displays the measured three-dimensional shape on the display device 5, and the operator performs an evaluation by comparing the measured three-dimensional shape with the measured object. When the operator determines that the shape data needs to be corrected, the position is indicated on the surface of the measured object by using the position indicating device 3 for the area that needs to be corrected. 12 is a position pointing device 3
, A correction instruction and information on the designated position are input (steps S3 and S4 in FIG. 2). The second three-dimensional coordinate calculation means 12 detects the position specified by the position pointing device 3 and calculates three-dimensional coordinates (step S5 in FIG. 2).

The shape data correction means 13 displays the shape data calculated by the second three-dimensional coordinate calculation means 12 on the display device 5 to urge the operator to evaluate it. When the data processing device 1 receives a determination from the operator that the data is correct (step S6 in FIG. 2), the shape data is corrected by the shape data correcting means 13 (step S7 in FIG. 2), and the position designation operation is completed. When the data processing device 1 receives a determination that the data processing device 1 is not correct, the process returns to step S4 and repeats the position indicating operation A (steps S4 to S6 in FIG. 2).

The data processing device 1 displays the shape data updated by the above processing on the display device 5 to urge the operator to confirm, and when the operator's judgment result that the whole shape is correct is input (FIG. Two steps S8), the process ends. In addition, when the data processing apparatus 1 receives a determination result from the operator that a portion to be corrected remains (step S8 in FIG. 2), the process returns to step S4 to repeat the position indicating operation A (steps S4 to S4 in FIG. 2). S8).

In the embodiment of the present invention, step S2
The shape data is updated by performing the measurement in step S5 after the measurement in step S5. However, in this order, step S5 may be performed first. In this case, the measurement data in step S5 has priority over the measurement data in step S2.

As described above, in the embodiment of the present invention, the operator performs measurement on an area that is considered to be erroneously measured or an area where the shape of the object to be measured is special and the number of measurement points is intentionally increased. By inputting the result of evaluation and estimation compared with the object (real object) to the position pointing device 3 and performing re-measurement or additional measurement on the region specified through the position pointing device 3, the measurement accuracy of the region is improved. be able to.

Further, in the embodiment of the present invention, by employing the above-described method for the three-dimensional shape measuring device, the measuring device can be simplified, and the operability of the measuring device can be improved. Can also.

Further, in the embodiment of the present invention, since the image photographing device 2 is used, the texture of the object surface can be simultaneously acquired for the points measured by the position pointing device 3.

Furthermore, according to the embodiment of the present invention, in shape measurement by image processing, it is possible to measure even an area where a corresponding point cannot be searched due to the influence of illumination or a material.

FIG. 3 is a diagram showing a configuration of a three-dimensional shape measuring apparatus according to one embodiment of the present invention. In the figure, a three-dimensional shape measuring apparatus according to one embodiment of the present invention includes a digital camera 41, a laser pointer 42, a connection arm (connection device) 43, a tripod 44, a horizontal angle measuring encoder 35, and a vertical direction. And an encoder 36 for angle measurement.

In one embodiment of the present invention, three-dimensional shape measurement using image processing by monocular vision and three-dimensional shape measurement using triangulation by a projection method are performed. For indicating a measurement position on the surface of the object to be measured (not shown), a position indicating operation by laser beam irradiation is performed. That is, a digital camera 41 is used as the image photographing device 2 and a laser pointer 42 is used as the position pointing device 3 shown in FIG. The digital camera 41 which is the image photographing device 2 is used in combination with the means for detecting the position indicated by the laser pointer 42 on the surface of the object to be measured.

The digital camera 41 is fixed to a tripod 44, and the laser pointer 42 is fixed to the tripod 44 via a connection arm 43. The laser pointer 42 is fixed in two axes of a horizontal direction and a vertical direction, and can swing its head up, down, left, and right. The axes connected to the laser pointer 42 are provided with a horizontal angle measuring encoder 45 and a vertical angle measuring encoder 46, respectively, which are angle measuring encoders. The horizontal angle measuring encoder 45 and the vertical angle measuring encoder 46 each measure the pointing direction of the laser beam. Here, it is assumed that the length of the connection arm 43 is known.

FIG. 4 is a block diagram showing a configuration of a three-dimensional shape measuring apparatus according to one embodiment of the present invention. The configuration of the three-dimensional shape measuring apparatus according to one embodiment of the present invention will be described in more detail with reference to FIGS.

The position pointing device 3 can be replaced by laser irradiation means 31 (laser pointer 42 in FIG. 3) for irradiating a laser beam. Further, the image photographing apparatus 2 (digital camera 41 in FIG. 3) is provided with a laser detecting unit 2 for detecting a laser beam emitted from the laser irradiating unit 31 on the surface of the measured object.
It also has the function of (1).

The second three-dimensional coordinate calculation means 12 is a laser observation direction detection means 12a for detecting the observation direction of the designated position from the laser beam detection position from the digital camera 41 (for example, the observation direction is determined by image processing from a captured image. The laser irradiation direction detecting means 12b (for example, detects the laser light observation direction calculated by the detection direction) and the laser light irradiation direction.
Laser irradiation direction calculated by the angle measurement encoder),
The three-dimensional coordinate calculator 12c calculates the three-dimensional coordinates of the laser beam projection point on the measured object surface from the distance between the laser irradiator 31 and the laser detector 21 based on the principle of triangulation.

FIG. 9 is a diagram for explaining a three-dimensional measuring method by a position pointing operation according to one embodiment of the present invention. With reference to FIGS. 3 and 9, a description will be given of a three-dimensional measurement method using a position pointing operation.

The origin of the coordinates of the digital camera 41 is O, and the coordinate system is XYZ. The coordinate origin of the laser pointer 42 is set to O ', and the coordinate system is set to X'-Y'-Z'.
And According to the configuration of FIG. 3, the X axis and the X ′ axis are on the same straight line, and the origin O and the origin O ′ are on the same straight line. Y
The axis and the Y 'axis are parallel to each other, and the Z axis and the Z' axis are parallel to each other.

The laser light emitted by the laser pointer 42 (the position of the origin O 'in FIG. 9) is projected onto a point P on the object surface to be measured, and the digital camera 41 (the position of the origin O in FIG. 9) is Is detected. The direction from the origin O ′ to the point P is calculated from the horizontal angle measurement encoder 45 and the vertical angle measurement encoder 46 provided on the laser pointer 42. Specifically, the angle β between O′P and the plane of X′-Z ′, and the mapping O′P ′ and Z ′ of O ′ onto the X′-Z ′ plane
The angle α with the axis is calculated.

In the digital camera 41, the direction from the origin O to the point P can be calculated from the focal length, the angle of view, and the captured image in the same manner as described above, and the angles θ and φ are obtained. The distance L between O-O '(the length of the connection arm 43) is known. The distance L obtained by the above processing and the angle α,
The three-dimensional coordinates of the indicated position P on the surface of the measured object are calculated from β, θ, and φ.

FIG. 5 is a flowchart showing the operation of the three-dimensional shape measuring apparatus according to one embodiment of the present invention. FIG. 5 shows a processing operation extracted from the position indicating work A in the processing operation shown in FIG. The operation of the three-dimensional shape measuring apparatus according to one embodiment of the present invention will be described with reference to FIGS.

First, the object to be measured and the digital camera 41
The images of the object to be measured are photographed from a plurality of directions while changing the relative position of the object. A corresponding point is searched from the plurality of selected images, and a three-dimensional shape of the measured object is calculated. The processing so far corresponds to steps S1 and S2 in FIG. The change of the relative position between the object to be measured and the digital camera 41 can be easily performed by installing the object to be measured on a turntable (not shown) or the like.

By moving the laser pointer 42, a laser beam is projected onto an arbitrary position on the surface of the object to be measured, and the position is designated (steps S11 and S12 in FIG. 5). The digital camera 41 takes an image of the laser beam projected on the surface of the object to be measured (step S13 in FIG. 5), and the laser observation direction detection means 12a calculates the observation direction from the position reflected on the digital camera 41 (step S14 in FIG. 5). ).

At the same time, the laser irradiation direction detection means 12b calculates the irradiation direction of the laser light from the angle measuring encoder provided in the laser pointer 42 for the irradiation direction of the laser light (step S15 in FIG. 5). The three-dimensional coordinate calculation means 12c calculates three-dimensional coordinates of the designated position from the irradiation direction of the laser beam and the observation direction (step S16 in FIG. 5).

The above process is repeated until the object to be measured and the digital camera 41 are obtained until the operator is satisfied with the accuracy.
(Step S1 in FIG. 5)
1 to S17). If the accuracy that the operator can understand is obtained,
The shape data correcting means 13 corrects or adds to the previously performed three-dimensional shape data with the three-dimensional data at the position indicated by the laser pointer 42.

In the embodiment of the present invention, a case has been described in which three-dimensional coordinate calculation is performed by photographing an image with monocular vision. However, measurement with two or three or more eyes can be handled in the same manner as described above.

The laser pointer 42 can be built in the digital camera 41. However, in order to increase the convergence angle, the digital camera 41 needs to
It is more desirable to use 3 to keep the distance.

Further, as the position pointing device 3, a slit light projecting device, a magnetic pointing device, a contact type three-dimensional shape measuring device, or the like can be used instead of the laser pointer 42.

FIG. 6 is a diagram showing a configuration of a three-dimensional shape measuring apparatus according to another embodiment of the present invention. In the figure, a three-dimensional shape measuring apparatus according to another embodiment of the present invention has the same configuration as that of the three-dimensional shape measuring apparatus according to one embodiment of the present invention except that the connecting arm 43 shown in FIG. The same components are denoted by the same reference numerals.

Laser pointer 42 and digital camera 4
1 is connected by a variable length arm 47, and a laser beam is projected from an arbitrary angle. The distance between the laser pointer 42 and the digital camera 41 is calculated by the distance encoder 48 attached to the variable length arm 47.

By operating the variable length arm 47, adjustment is made so that the laser beam is projected onto the surface of the object to be measured. For example, when an object to be measured has a dent, the laser beam is also applied to the dent by adjusting the arm length and the camera observation direction.

In another embodiment of the present invention, in addition to the effect of the embodiment of the present invention, an arbitrary convergence angle can be obtained by making the projection position of the laser pointer 42 variable, so that the measurement accuracy can be improved. It also has the effect that it can be improved.

The variable-length arm 47 can be changed not only in length but also in the mounting position of the laser pointer 42, as long as the position of the laser pointer 42 can be measured.

FIG. 7 is a block diagram showing a configuration of a three-dimensional shape measuring apparatus according to another embodiment of the present invention. In the figure, a three-dimensional shape measuring apparatus according to another embodiment of the present invention is the same as the three-dimensional shape measuring apparatus according to one embodiment of the present invention shown in FIG. 4 except that a shape specifying means 14 is provided in the data processing device 1. The same components are denoted by the same reference numerals.

The shape designating means 14 functions by combining the operations of the means for designating words representing the shape of the object and the means for designating the object with the laser pointer 42. For example,
The shape designating means 14 has a selection menu representing the shape of the object such as "plane" or "ridgeline", and designates this menu on software of a computer (not shown).

FIG. 8 is a flowchart showing the operation of the three-dimensional shape measuring apparatus according to another embodiment of the present invention. FIG. 8 shows a processing operation in which a portion of the position indicating work A is extracted from the processing operation shown in FIG.
The processing operations corresponding to 13, S14, and S15 are omitted. The operation of the three-dimensional shape measuring apparatus according to another embodiment of the present invention will be described with reference to FIGS.

For example, it is assumed that a part of the object to be measured includes a rectangular plane. At this time, the menu of "plane" is selected by the shape designating means 14 (step S2 in FIG. 8).
1). Next, four corners of the rectangular plane are indicated by the laser pointer 42 (steps S22 to S25 in FIG. 8). Since the “plane” is selected and the four corners are specified, the shape specification unit 14 regards the area surrounded by the four corners as a plane,
The three-dimensional coordinates of the area are calculated.

In the measurement by image processing, it may be erroneously measured that there is minute unevenness even in the case of a plane. It is possible to measure as a flat surface.

As described above, the operator can measure the object to be measured (real object).
When the instruction information based on the result of the evaluation and estimation is input to the position pointing device 2, the data processing device 1 performs re-measurement or additional measurement on the designated area, thereby making the determination based on the operator's judgment. Since the measurement can be repeatedly performed, three-dimensional coordinates can be obtained with high accuracy. In other words, if the operator specifies an area that seems to have made an erroneous measurement or an area where the shape of the measured object is special and the measurement points are intentionally increased, three-dimensional coordinates based on the specified information can be obtained with high accuracy. The measurement accuracy of the corresponding area can be improved.

Further, since the device can be constituted only by the digital camera 41, the laser pointer 42 and the connection arm 43 or the variable length arm 47, the measuring device can be simplified.

Further, since the three-dimensional shape measuring method by the position pointing device 2 is used together, even in an area where a corresponding point cannot be searched due to the influence of illumination or material in the shape measurement by image processing, measurement is performed. can do.

Further, by using the connection arm 43 and the variable length arm 47, the convergence angle can be made variable in the measurement by the position indication, and it is possible to cope with the case where the object has a concave portion. Measurement accuracy can be improved.

In the above configuration, the laser pointer 42
It is possible to explicitly specify a part of the shape of the object to be measured by using the method described above, so that it is possible to correct a shape that is estimated to be clearly different from the measurement by the image processing.

[0066]

As described above, according to the present invention, a three-dimensional shape is calculated from a photographed image of an object to be measured, and a measurement point to be measured on the object to be measured is input according to an external instruction. By calculating the three-dimensional coordinates of the measurement point when the measurement is performed and correcting the shape data of the measured object based on these calculation results, it is possible to efficiently improve the measurement accuracy of the three-dimensional shape of the object. effective.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a three-dimensional shape measuring apparatus according to an embodiment of the present invention.

FIG. 2 is a flowchart showing an operation of the three-dimensional shape measuring apparatus according to the embodiment of the present invention.

FIG. 3 is a diagram showing a configuration of a three-dimensional shape measuring apparatus according to one embodiment of the present invention.

FIG. 4 is a block diagram showing a configuration of a three-dimensional shape measuring apparatus according to one embodiment of the present invention.

FIG. 5 is a flowchart showing an operation of the three-dimensional shape measuring apparatus according to one embodiment of the present invention.

FIG. 6 is a diagram showing a configuration of a three-dimensional shape measuring apparatus according to another embodiment of the present invention.

FIG. 7 is a block diagram showing a configuration of a three-dimensional shape measuring apparatus according to another embodiment of the present invention.

FIG. 8 is a flowchart showing an operation of the three-dimensional shape measuring apparatus according to another embodiment of the present invention.

FIG. 9 is a diagram for explaining a three-dimensional measurement method by a position pointing operation according to one embodiment of the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 data processing device 2 image photographing device 3 position indicating device 4 shape data storage device 5 display device 11 first three-dimensional coordinate calculation means 12 second three-dimensional coordinate calculation means 12a laser observation direction detection means 12b laser irradiation direction detection means 12c Three-dimensional coordinate calculation means 13 Shape data correction means 14 Shape specification means 21 Laser detection means 31 Laser irradiation means 41 Digital camera 42 Laser pointer 43 Connection arm 45 Horizontal angle measurement encoder 46 Vertical angle measurement encoder 47 Variable length arm 48 Distance Encoder

Claims (8)

[Claims] 1. A three-dimensional shape calculating means for calculating a three-dimensional shape from a photographed image of an object to be measured, and an instructing means for instructing a measurement point on the object to be measured according to an external instruction. A three-dimensional coordinate calculating means for calculating three-dimensional coordinates of the measurement point specified by the specifying means; and a shape of the object to be measured based on calculation results of the three-dimensional shape calculating means and the three-dimensional coordinate calculating means. A three-dimensional shape measuring apparatus comprising: a correction unit that corrects data. 2. The three-dimensional shape measuring apparatus according to claim 1, wherein said indicating means comprises laser light irradiating means for irradiating an arbitrary point on the surface of the object to be measured with laser light. 3. A laser light detecting means for detecting a laser light irradiated on a surface of the object to be measured, wherein the three-dimensional coordinate calculating means calculates an irradiation direction of the laser light by the laser light irradiating means. 3. The laser irradiation direction detecting means according to claim 2, further comprising: a laser observation direction detecting means for calculating an observation direction of the laser light on the surface of the object to be measured as viewed from the laser light detecting means. 3D shape measuring device. 4. The apparatus according to claim 1, further comprising a shape designating means for designating a shape of the object to be measured, wherein a position designation operation is performed on the object to be measured according to the shape designated by the shape designating means. The three-dimensional shape measuring apparatus according to any one of claims 1 to 3, wherein 5. A step of calculating a three-dimensional shape from a photographed image of an object to be measured, and a step of calculating a three-dimensional shape of the point to be measured when the point to be measured on the object to be measured is input in response to an external instruction. A three-dimensional shape measuring method, comprising: calculating original coordinates; and correcting shape data of the measured object based on the calculation results. 6. The three-dimensional shape measuring method according to claim 5, wherein the measurement point is indicated by a laser beam. 7. A step of calculating an irradiation direction of the laser beam when detecting a laser beam irradiated on the surface of the object, and a surface of the object viewed from a means for detecting the laser beam. Calculating the observation direction of the upper laser beam. 8. The apparatus according to claim 5, further comprising a step of designating a shape of the object to be measured, wherein a position designation operation is performed on the object to be measured according to the designated shape.
The three-dimensional shape measuring method according to any one of claims 1 to 7.